Merge pull request #964 from JuliaRobotics/maint/4Q20/rmdepr

removing old deprecations

Author: dehann

src/Deprecated.jl

@@ -1451,224 +1451,8 @@ function _dbgSaveDFG(dfg::AbstractDFG,
   folder*filename
 end
 
-##==============================================================================
-## Delete at end v0.15.x
-##==============================================================================
-
-
-@deprecate putCliqueMsgDown!(cdata::BayesTreeNodeData, msg::LikelihoodMessage; from::Symbol=:nothing) putMsgDwnThis!(cdata, msg, from=from)
-
-# """
-#     $SIGNATURES
-
-# Initialization downward message passing is different from regular inference since
-# it is possible that none of the child cliq variables have been initialized.
-
-# Notes
-# - init upward msgs are individually stored in child cliques (pull model good).
-# - fresh product of overlapping beliefs are calculated on each function call.
-# - Assumed that `prnt` of siblings
-
-# Dev Notes
-# - This should be the initialization cycle of parent, build up bit by bit...
-# """
-# function prepCliqInitMsgsDown!(fgl::AbstractDFG,
-#                                tree::AbstractBayesTree,
-#                                prnt::TreeClique,
-#                                cliq::TreeClique;
-#                                logger=ConsoleLogger() )
-#   #
-#   # tt = split(string(now()), 'T')[end]
-#   # with_logger(logger) do
-#   #   @info "$(tt) prnt $(prnt.index), prepCliqInitMsgsDown! -- with cliq $(cliq.index)"
-#   # end
-  
-#   # FIXME use only LikelihoodMessage
-#   # check if any msgs should be multiplied together for the same variable
-#   # msgspervar = LikelihoodMessage() # or maybe Dict{Int, LikelihoodMessage}()
-#   msgspervar = getMsgInitDwnParent(tree, cliq, logger=logger)
-#   # reference to default dict location
-#   #JT 459 products = getMsgDwnThisInit(prnt)
-#   products = getfetchCliqueInitMsgDown(prnt.data, from=:getMsgDwnThisInit) |> deepcopy
-  
-#   ## TODO use parent factors too
-#   # intersect with the asking clique's separator variables
-#   condenseDownMsgsProductPrntFactors!(fgl, products, msgspervar, prnt, cliq, logger)
-  
-#   # with_logger(logger) do
-#   #   @info "cliq $(prnt.index), prepCliqInitMsgsDown! -- vars fw/ down msgs=$(collect(keys(msgspervar)))"
-#   # end
-#   # flush(logger.stream)
-
-#   # remove msgs that have no data
-#   rmlist = Symbol[]
-#   for (prsym,belmsg) in products.belief
-#     if belmsg.inferdim < 1e-10
-#       # no information so remove
-#       push!(rmlist, prsym)
-#     end
-#   end
-#   with_logger(logger) do
-#     @info "cliq $(prnt.index), prepCliqInitMsgsDown! -- rmlist, no inferdim, keys=$(rmlist)"
-#   end
-#   for pr in rmlist
-#     delete!(products.belief, pr)
-#   end
-
-#   with_logger(logger) do
-#     @info "cliq $(prnt.index), prepCliqInitMsgsDown! -- product keys=$(collect(keys(products.belief)))"
-#   end
-
-#   # now put the newly computed message in the appropriate container
-#   # FIXME THIS IS A PUSH MODEL, see #674 -- make pull model
-#   putCliqueInitMsgDown!(getCliqueData(prnt), products)
-
-#   return products
-# end
-
-
-# used during nonparametric CK preparation, when information from multiple siblings must be shared together
-# const IntermediateSiblingMessagesTB{T} = Vector{TreeBelief{T}}
-# const IntermediateMultiSiblingMessagesTB{T} = Dict{Symbol, Vector{TreeBelief{T}}}
-
-
-# FIXME, better standardize intermediate types
-# can be replaced by Vector{TreeBelief}
-# const IntermediateSiblingMessages = Vector{Tuple{BallTreeDensity,Float64}}
-# const IntermediateMultiSiblingMessages = Dict{Symbol, IntermediateSiblingMessages}
-
-
-# Helper function for prepCliqInitMsgsDown!
-# populate products with products of upward messages
-function condenseDownMsgsProductOnly!(fgl::AbstractDFG,
-                                      products::LikelihoodMessage,
-                                      msgspervar::Dict{Symbol, <:AbstractVector}  )
-  #
-  error("condenseDownMsgsProductOnly!(::AbstractDFG,::LikelihoodMessage, ::IntermediateMultiSiblingMessages) is obsolete")
-  # multiply multiple messages together
-  for (msgsym, msgsBo) in msgspervar
-    # check if this particular down message requires msgsym
-    if exists(fgl, msgsym) # DFG.hasVariable(fgl, msgsym)
-      if length(msgspervar[msgsym]) > 1
-        msgs = getindex.(msgsBo, 1)
-        haspars = 0.0
-        for mb in msgsBo, val in mb[2]
-          haspars += val
-        end
-        products[msgsym] = (manifoldProduct(msgs, getManifolds(fgl, msgsym)), haspars)
-      else
-        # transfer if only have a single belief
-        products[msgsym] = (msgsBo[1][1], msgsBo[1][2])
-      end
-    else
-      # not required, therefore remove from message to avoid confusion
-      if haskey(products, msgsym)
-        delete!(products, msgsym)
-      end
-    end
-  end
-  nothing
-end
-
-@deprecate getfetchCliqueMsgDown(cdata::BayesTreeNodeData; from::Symbol=:nothing) getfetchCliqueInitMsgDown(cdata, from=from)
-
-export getIdx
-
-"""
-    $SIGNATURES
-
-Return interger index of desired variable element.
-
-Example
--------
-```julia
-pp = RoME.Point2()
-getIdx(pp, :posY) # = 2
-```
-
-Internal Notes
---------------
-- uses number i < 100 for index number, and
-- uses +100 offsets to track the minibatch number of the requested dimension
-"""
-function getIdx(pp::Tuple,
-                sym::Symbol,
-                i::Int=0)
-  #
-  error("getIdx is obsolete, use DistributedFactorGraphs objects/methods instead.")
-  i-=100
-  for p in pp
-    i,j = getIdx(p, sym, i)
-    if i > 0
-      return i, j
-    end
-  end
-  return i,-1
-end
-getIdx(pp::Symbol, sym::Symbol, i::Int=0) = pp==sym ? (abs(i)%100+1, div(abs(i)-100,100)) : (i-1, div(abs(i)-100,100))
-function getIdx(pp::InferenceVariable, sym::Symbol, i::Int=0)
-  return getIdx(pp.dimtype, sym)
-end
-
-
-# """
-#     $SIGNATURES
-
-# Get the latest down message from the parent node (without calculating anything).
-
-# Notes
-# - Different from down initialization messages that do calculate new values -- see `prepCliqInitMsgsDown!`.
-# - Basically converts function `getDwnMsgs` from `Dict{Symbol,BallTreeDensity}` to `Dict{Symbol,Vector{BallTreeDensity}}`.
-
-# Related
-
-# getMsgInitDwnParent
-# """
-# function getMsgDwnParent(treel::AbstractBayesTree, cliq::TreeClique)
-#   downmsgs = IntermediateMultiSiblingMessages()
-#   prnts = getParent(treel, cliq)
-#   if 0 < length(prnts)
-#     prnt = prnts[1]
-#     prntmsgs = getDwnMsgs(prnt)
-#     for (key, bel) in prntmsgs
-#       if !haskey(downmsgs, key)
-#         downmsgs[key] = IntermediateSiblingMessages()
-#       end
-#       # TODO insert true inferred dim
-#       push!(downmsgs[key], bel)
-#     end
-#   end
-
-#   return downmsgs
-# end
-
-
-# function getMsgDwnThisInit(cdat::BayesTreeNodeData) 
-#   iifdepwarn("#459 replace with getfetchCliqueMsgDown", :getMsgDwnThisInit)
-#   return cdat.downInitMsg
-# end
 
-@deprecate fetchDataElement(dfg::AbstractDFG, varsym::Symbol, lbl::Symbol) fetchDataJSON(dfg, varsym, lbl)
-
-
-function addMsgFactors!(subfg::AbstractDFG,
-                        msgs::Dict{Symbol, <:AbstractVector} )  #Dict{Symbol, Vector{Tuple{BallTreeDensity, Float64}}} )
-  # msgs::
-  # add messages as priors to this sub factor graph
-  @warn "Tuple{KDE,Floa64} specific version of addMsgFactors! is deprecated, use LikelihoodMessage version instead."
-  msgfcts = DFGFactor[]
-  svars = DFG.listVariables(subfg)
-  for (msym, dms) in msgs
-    for treebelief in dms
-      if msym in svars
-        # TODO should be on manifold prior, not just generic euclidean prior -- okay since variable on manifold, but not for long term
-        fc = addFactor!(subfg, [msym], MsgPrior(manikde!(treebelief), treebelief.inferdim), graphinit=false)
-        push!(msgfcts, fc)
-      end
-    end
-  end
-  return msgfcts
-end
 
 
 
+#